Fawkes API  Fawkes Development Version
sensor_thread.h
1 
2 /***************************************************************************
3  * sensor_thread.h - Laser thread that puses data into the interface
4  *
5  * Created: Wed Oct 08 13:32:34 2008
6  * Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_LASER_SENSOR_THREAD_H_
24 #define _PLUGINS_LASER_SENSOR_THREAD_H_
25 
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 
32 #include <string>
33 
34 namespace fawkes {
35 class Laser360Interface;
36 class Laser720Interface;
37 class Laser1080Interface;
38 } // namespace fawkes
39 
41 
44  public fawkes::LoggingAspect,
47 {
48 public:
49  LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix, LaserAcquisitionThread *aqt);
50 
51  virtual void init();
52  virtual void finalize();
53  virtual void loop();
54 
55  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
56 protected:
57  virtual void
58  run()
59  {
60  Thread::run();
61  }
62 
63 private:
64  fawkes::Laser360Interface * laser360_if_;
65  fawkes::Laser720Interface * laser720_if_;
66  fawkes::Laser1080Interface *laser1080_if_;
67 
69 
70  unsigned int num_values_;
71 
72  std::string cfg_name_;
73  std::string cfg_frame_;
74  std::string cfg_prefix_;
75 };
76 
77 #endif
Laser acqusition thread.
Laser sensor thread.
Definition: sensor_thread.h:47
virtual void finalize()
Finalize the thread.
LaserSensorThread(std::string &cfg_name, std::string &cfg_prefix, LaserAcquisitionThread *aqt)
Constructor.
virtual void loop()
Code to execute in the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition: sensor_thread.h:58
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Laser1080Interface Fawkes BlackBoard Interface.
Laser360Interface Fawkes BlackBoard Interface.
Laser720Interface Fawkes BlackBoard Interface.
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.